Wearable device and exercise support method performed by the wearable device

ABSTRACT

A wearable device and an exercise support method performed by the wearable device are disclosed. The exercise support method includes receiving exercise setting information associated with a lower body muscle that is selected by a user input, determining a torque profile to be applied to the wearable device based on the received exercise setting information, and operating an actuator of the wearable device based on the determined torque profile.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims under 35 U.S.C. § 119 to Korean PatentApplication No. 10-2019-0139447 filed on Nov. 4, 2019, in the KoreanIntellectual Property Office, the entire contents of which areincorporated herein by reference in their entirety.

BACKGROUND 1. Field

At least one example embodiment relates to a wearable device and/or anexercise support method performed by the wearable device.

2. Description of the Related Art

A walking assist device may be generally used to assist a user whoexperiences inconvenience in walking. Such an inconvenience in walkingmay be attributed to various reasons, for example, diseases oraccidents, and the user cannot walk readily on his/her own due to suchreasons. In such a case, the walking assist device may be used to assistthe user during a walking exercise as part of rehabilitation therapies.In addition, a recent issue of aging societies has contributed to agrowing number of people who experience inconvenience and pain fromreduced muscular strength or joint problems due to aging. Thus, there isa growing interest in walking assist devices that enable elderly usersor patients with reduced muscular strength or joint problems to walkwith less effort. A walking assist device may be worn on a body of auser, providing the user with power needed to walk and assisting theuser with walking in a normal gait pattern.

SUMMARY

At least one example embodiment relates to an exercise support methodperformed by a wearable device.

In at least one example embodiment, the exercise support method mayinclude receiving exercise setting information via an input, theexercise setting information indicating selected lower body muscles of auser to exercise; determining a torque profile to apply to the wearabledevice based on the exercise setting information; and operating anactuator of the wearable device based on the torque profile.

In at least one example embodiment, the determining of the torqueprofile comprises: setting the torque profile such that a resistancetorque to hinder a movement of the user is output in one or more gaitsegments corresponding to the selected lower body muscles.

In at least one example embodiment, the determining of the torqueprofile comprises: determining a resistance torque application intervalaccording to the exercise setting information based on a gait phase ofthe user, wherein the operating the actuator applies a resistance torqueduring the resistance torque application interval within one or moregait segments of the gait phase.

In at least one example embodiment, the exercise setting informationincludes information associated with the selected lower body musclesfrom among a plurality of lower body muscles of the user.

In at least one example embodiment, the receiving of the exercisesetting information comprises receiving the exercise setting informationfrom a remote controller configured to communicate with the wearabledevice.

In at least one example embodiment, the determining of the torqueprofile comprises: estimating a gait phase of the user based on sensorinformation sensed by one or more sensors of the wearable device; anddetermining the torque profile based on the gait phase and the exercisesetting information.

In at least one example embodiment, the determining of the torqueprofile comprises: identifying one or more gait segments of the gaitphase corresponding the selected lower body muscles; and setting thetorque profile such that a resistance torque is supplied to the actuatorin the one or more gait segments.

In at least one example embodiment, the determining of the torqueprofile comprises: determining the torque profile such that anassistance torque that supports a leg movement of the user is output ina first time interval and a resistance torque that hinders the legmovement of the user is output in a second time interval.

In at least one example embodiment, the wearable device is configured tooperate in one of a walking assist mode and an exercise mode such that,in the walking assist mode the wearable device assists a leg movement ofthe user and, in the exercise mode the wearable device outputs aresistance torque to hinder the leg movement of the user.

At least one example embodiment relates to a non-transitorycomputer-readable medium comprising computer readable instructions that,when executed by a computer, cause the computer to perform the exercisesupport method.

At least one example embodiment relates to an exercise support methodperformed by a wearable device.

In at least one example embodiment, the exercise support method mayinclude selectively setting the wearable device to an exercise mode;receiving exercise setting information via an input, the exercisesetting information indicating selected lower body muscles of a user toexercise; and outputting, via an actuator of the wearable device, aresistance torque that hinders a movement of the user in one or moregait segments corresponding to the selected lower body muscles.

In at least one example embodiment, the outputting of the resistancetorque comprises: setting a torque profile such that the resistancetorque is output in the one or more gait segments corresponding to theselected lower body muscles; and outputting the resistance torquethrough the actuator based on the torque profile.

At least one example embodiment relates to a wearable device.

In at least one example embodiment, the wearable device may include anactuator configured to output a torque based on a torque profile; and acontroller configured to, receive exercise setting information via aninput, the exercise setting information indicating selected lower bodymuscles of a user to exercise, and determine the torque profile based onthe exercise setting information.

In at least one example embodiment, the controller is configured to setthe torque profile such that a resistance torque to hinder a movement ofthe user is output in one or more gait segments corresponding to theselected lower body muscles.

In at least one example embodiment, the wearable device further includesa sensor configured to sense a movement of the user to generate sensinginformation, wherein the controller is configured to, estimate a gaitphase of the user based on the sensing information, and determine thetorque profile based on the gait phase and the exercise settinginformation.

In at least one example embodiment, the controller is configured to,identify one or more gait segments of the gait phase corresponding tothe selected lower body muscles, and set the torque profile such that aresistance torque is supplied to the actuator in the one or more gaitsegments.

In at least one example embodiment, the controller is configured todetermine the torque profile such that an assistance torque thatsupports a leg movement of the user is output in a first time intervaland a resistance torque that hinders the leg movement of the user isoutput in a second time interval.

In at least one example embodiment, the wearable device is configured tooperate in one of a walking assist mode and an exercise mode such that,in the walking assist mode the wearable device assists a leg movement ofthe user and, in the exercise mode the wearable device outputs aresistance torque to hinder the leg movement of the user.

In at least one example embodiment, the wearable device furthercomprises a communicator configured to receive the exercise settinginformation from a remote controller.

Additional aspects of example embodiments will be set forth in part inthe description which follows and, in part, will be apparent from thedescription, or may be learned by practice of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects will become apparent and more readilyappreciated from the following description of example embodiments, takenin conjunction with the accompanying drawings of which:

FIG. 1 is a diagram illustrating an example of a wearable device worn ona user according to at least one example embodiment;

FIG. 2 is a diagram illustrating an example of a structure and afunction of a wearable device according to at least one exampleembodiment;

FIG. 3 is a diagram illustrating an example of a configuration of awearable device according to at least one example embodiment;

FIG. 4 is a flowchart illustrating an example of an exercise supportmethod performed by a wearable device according to at least one exampleembodiment;

FIG. 5 is a diagram illustrating an example of a change in activation oflower body muscles in a walking exercise process according to at leastone example embodiment;

FIG. 6 is a diagram illustrating an example of setting exercise settinginformation through a user input according to at least one exampleembodiment;

FIG. 7 is a diagram illustrating an example of a change in activation oflower body muscles over time in a walking exercise process according toat least one example embodiment;

FIG. 8 is a diagram illustrating an example of a change in activation oflower body muscles over time when a resistance torque is applied in allgait segments according to at least one example embodiment; and

FIG. 9 is a diagram illustrating an example of a change in activation oflower body muscles over time when a resistance torque is applied in somegait segments according to at least one example embodiment.

DETAILED DESCRIPTION

Hereinafter, some example embodiments will be described in detail withreference to the accompanying drawings. Regarding the reference numeralsassigned to the elements in the drawings, it should be noted that thesame elements will be designated by the same reference numerals,wherever possible, even though they are shown in different drawings.Also, in the description of embodiments, detailed description ofwell-known related structures or functions will be omitted when it isdeemed that such description will cause ambiguous interpretation of thepresent disclosure.

It should be understood, however, that there is no intent to limit thisdisclosure to the particular example embodiments disclosed. On thecontrary, example embodiments are to cover all modifications,equivalents, and alternatives falling within the scope of the exampleembodiments. Like numbers refer to like elements throughout thedescription of the figures.

In addition, terms such as first, second, A, B, (a), (b), and the likemay be used herein to describe components. Each of these terminologiesis not used to define an essence, order or sequence of a correspondingcomponent but used merely to distinguish the corresponding componentfrom other component(s). It should be noted that if it is described inthe specification that one component is “connected,” “coupled,” or“joined” to another component, a third component may be “connected,”“coupled,” and “joined” between the first and second components,although the first component may be directly connected, coupled orjoined to the second component.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used herein, thesingular forms “a,” “an,” and “the,” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. It willbe further understood that the terms “comprises,” “comprising,”“includes,” and/or “including,” when used herein, specify the presenceof stated features, integers, steps, operations, elements, and/orcomponents, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components,and/or groups thereof.

It should also be noted that in some alternative implementations, thefunctions/acts noted may occur out of the order noted in the figures.For example, two figures shown in succession may in fact be executedsubstantially concurrently or may sometimes be executed in the reverseorder, depending upon the functionality/acts involved.

Unless otherwise defined, all terms, including technical and scientificterms, used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which the disclosure of this applicationpertains. Terms, such as those defined in commonly used dictionaries,are to be interpreted as having a meaning that is consistent with theirmeaning in the context of the relevant art, and are not to beinterpreted in an idealized or overly formal sense unless expressly sodefined herein.

Also, in the description of example embodiments, detailed description ofstructures or functions that are thereby known after an understanding ofthe disclosure of the present application will be omitted when it isdeemed that such description will cause ambiguous interpretation of theexample embodiments.

Various example embodiments will now be described more fully withreference to the accompanying drawings in which some example embodimentsare shown. In the drawings, the thicknesses of layers and regions areexaggerated for clarity.

Hereinafter, examples will be described in detail with reference to theaccompanying drawings, and like reference numerals in the drawings referto like elements throughout.

FIG. 1 is a diagram illustrating an example of a wearable device worn ona user according to at least one example embodiment.

Referring to FIG. 1, a wearable device 110 is configured to perform afunction of assisting a user 100 wearing the wearable device 110 inwalking more readily. The wearable device 110 may also be referred to asa walking assist device (WAD) or a gait assist device. When the wearabledevice 110 is provided to perform such walking assist function, thewearable device 110 may assist or support an entire leg of the user 100or a portion of the leg to help the user 100 walk more readily. Forexample, when a person including, for example, a general user and anelderly user, wears the wearable device 110, the wearable device 110 mayhelp the person walk for a longer period of time to enhance an abilityof the person to walk or improve an abnormal gait of the person. Inaddition, the wearable device 110 may provide a force needed for theperson to walk, enabling the person to walk independently.

The wearable device 110 may be provided in a wearable exoskeleton typeas illustrated in FIG. 1, and configured to assist or support the user100 to enhance a muscular strength when the user 100 walks and thus toimprove a walking movement or a gait of the user 100 or enable the user100 to walk normally. For example, the wearable device 110 is providedin a hip type that is worn on a hip joint or a thigh as illustrated inFIG. 1. However, a type of the wearable device 110 is not limited to theillustrated example, and other types may also be applicable to thewearable device 110. For example, the wearable device 110 may beprovided in a type that assists or supports an entire leg including ahip, a knee, and an ankle, or in a type that assists or supports aportion of the leg, for example, an ankle or a knee.

The wearable device 110 may operate in an exercise mode in which thewearable device 110 provides the user 100 with a resistance force toassist the user 100 in doing an exercise, in addition to a walkingassist mode in which the wearable device 110 performs the walking assistfunction described in the foregoing. The resistance force provided to abody of the user 100 by the wearable device 110 in the exercise mode mayact as a force that hinders a movement of the user 100 to increase amuscular strength of the user 100 or help the user 100 be rehabilitated.For example, the wearable device 110 may generate a resistance torque toprovide resistance to the user 100 while the user 100 is walking, andapply a resistance force to a movement of the user 100 based on thegenerated resistance torque.

According to example embodiments to be described hereinafter, the user100 may do an exercise for at least one lower body muscle that the user100 desires to strengthen by performing an exercise with the wearabledevice 110 on in the exercise mode of the wearable device 110. Here, theuser 100 may select the lower body muscle, or a lower body part, thatthe user 100 desires to strengthen, and the wearable device 110 maygenerate a torque profile to strengthen the lower body muscle selectedby the user 100 and may apply a resistance force to a leg of the user100 in a certain gait segment based on the generated torque profile. Theterm “gait segment” used herein may refer to a time interval in a gaitphase. The user 100 may walk with the wearable device 110 on in theexercise mode, and the wearable device 110 may apply a resistance forceto the user 100 in a certain gait segment of a gait phase of the user100, thereby providing an exercise function to help the user 100strengthen the lower body muscle selected by the user 100. Through this,it is possible to selectively strengthen a lower body muscle of the user100, and help the user 100 effectively perform a rehabilitation or anexercise for a certain lower body part. In addition, unlike otherexercises, such as, for example, lunge, squat, and cycling, which mayalso strengthen targeted lower body parts, the walking exerciseperformed using the wearable device 110 may not strain a joint of theuser 100 but have similar exercise effects as those brought by the otherexercises.

FIG. 2 is a diagram illustrating an example of a structure and afunction of a wearable device according to at least one exampleembodiment.

Referring to FIG. 2, when a wearable device 110 operates in an walkingassist mode, the wearable device 110 generates an assistance torque atleft and right hip joint portions 220L and 220R under the control of acontroller 230, and the generated assistance torque provides a user 100wearing the wearable device 110 with an assistance force for extensionand/or flexion through transferrers 240L and 240R disposed above kneesof the user 100. The wearable device 110 senses a movement of the user100 through one or more sensors, and estimates a gait phase or a gaitstate of the user 100 based on information of the sensed movement. Thewearable device 110 determines a direction in which an assistance forceis to be provided to each of legs of the user 100 at a current timepoint, and a magnitude of the assistance force to be provided at thecurrent time point, based on the estimated gait phase.

When the wearable device 110 operates in an exercise mode, thecontroller 230 generates a resistance torque for all segments or one ofthe segments of the gait phase of the user 100, and the generatedresistance torque provides a resistance force which is a force forhindering a leg movement of the user 100 through the transferrers 240Land 240R. The controller 230 determines a torque profile of theresistance torque based on a lower body muscle that is selected by auser input, and operates an actuator of the wearable device 110 based onthe determined torque profile. The torque profile includes informationassociated with a magnitude of a torque to be applied to the actuatorand a direction of the torque based on an elapsed time or a progressionof the gait phase.

According to an example embodiment, the user 100 selects, through aremote controller 250, a lower body muscle or a lower body part forwhich the user 100 desires to do an exercise. The user 100 may selectthe lower body muscle through an interface executed in the remotecontroller 250. Here, exercise setting information associated with thelower body muscle selected by the user input may be transmitted from theremote controller 250 to the wearable device 110. The controller 230 maythen determine the torque profile to be used in the exercise mode basedon the exercise setting information received from the remote controller250. The remote controller 250 may be a mobile device, such as, forexample, a personal computer (PC), a laptop, a tablet PC, and asmartphone, a wearable device in other types including, for example, asmart watch, or another electronic device.

According to an example, the exercise setting information may bedetermined by a user input of a third person, instead of the user inputof the user 100 wearing the wearable device 110. The third person maybe, for example, a rehabilitation or medical professional or staff, oran assistant who assists the user 100 in walking or doing an exercise.

FIG. 3 is a diagram illustrating an example of a configuration of awearable device according to at least one example embodiment.

Referring to FIG. 3, a wearable device 300 includes at least one sensor340, a control device 310, and an actuator 350. According to an example,the wearable device 300 may further include a communicator 360configured to communicate with an external device, for example, a remotecontroller.

The remote controller may control an overall operation of the wearabledevice 300 in response to a user input. For example, the remotecontroller may start or stop, or suspend or resume, a function or anoperation of the wearable device 300. The remote controller may providea user interface (UI) that enables an operation or manipulation of thewearable device 300, and a user may control a function and operation ofthe wearable device 300 through the UI. In addition, through the UI, theuser may select a lower body muscle or a lower body part for which theuser desires to do an exercise, and select an exercise characteristicincluding, for example, an exercise intensity and an exercise time. Thecommunicator 360 may receive a control signal for remotely controllingthe wearable device 300 from the remote controller, and/or exercisesetting information associated with the lower body muscle or theexercise characteristic.

The sensor 340 may include various sensors. For example, the sensor 340may include a sensor configured to sense or measure a gait phase or amovement of a user wearing the wearable device 300, and a sensorconfigured to obtain information needed for an operation of the wearabledevice 300. The sensor 340 may include, for example, an accelerationsensor, an inertial sensor, and/or a gyro sensor to sense a movement ofthe user and output sensing information therefrom. The sensor 340 mayalso include, for example, a torque sensor and/or a current/voltagesensor to sense or measure a torque transferred through the actuator350.

The control device 310 is configured to control an operation and afunction of the wearable device 300 and includes a controller 320 and amemory 330. The memory 330 may be connected to the controller 320 andconfigured to store instructions to be executed by the controller 320,and data to be processed by the controller 320 and/or data having beenprocessed by the controller 320. For example, the memory 330 may storeparameters corresponding to a control signal output by the controller320. The memory 330 may include a non-transitory computer-readablestorage medium, for example, a high-speed random-access memory (RAM)and/or a nonvolatile computer-readable storage medium (e.g., at leastone disk storage device, flash memory device, or other nonvolatilesolid-state memory devices).

The controller 320 may include processing circuitry including, but isnot limited to, a central processing unit (CPU), an arithmetic logicunit (ALU), a digital signal processor, a microcomputer, a fieldprogrammable gate array (FPGA), a programmable logic unit, amicroprocessor, application-specific integrated circuit (ASIC), etc. Theprocessing circuitry may execute instructions that configure theprocessing circuitry as special purpose processing circuitry thatgenerates a control signal to control the wearable device 300 to set atorque profile such that a resistance torque for hindering a movement ofthe user wearing the wearable device 300 is output in one or more gaitsegments corresponding to the lower body muscles selected by the userinput. Therefore, the processing circuitry may improve the functioningof the wearable device 300 itself by allowing the wearable device 300 toselectively strengthen selected lower body muscles of the user 100without the joint strain associated with traditional exercises forstrengthening lower body muscles, such as, for example, lunge, squat,and cycling.

For example, the controller 320 may generate a torque control signal tocontrol a torque to be provided by the wearable device 300 based on amovement of the user sensed by the sensor 340. The controller 320 mayperform one or more, or all, of operations and functions of a wearabledevice described herein. The wearable device 300 may operate in oneoperation mode between a walking assist mode that assists the user inwalking and an exercise mode that outputs a resistance torque which is aforce for hindering a leg movement of the user. The controller 320 maycontrol an operation and a function of the wearable device 300 accordingto each operation mode.

According to an example embodiment, the wearable device 300 may receivea user choice input for an operation mode of the wearable device 300. Anoperation algorithm for each operation mode may be provided in advancein the wearable device 300, and each operation mode may then operateaccording to the provided algorithm. The controller 320 may operate thewearable device 300 in response to the received user choice input.

When the walking assist mode is selected as the operation mode, thecontroller 320 may execute an algorithm for determining an assistanceforce to assist the user wearing the wearable device 300 in walking. Forexample, the controller 320 may estimate a gait cycle of the user basedon sensing information sensed by the sensor 340, and generates a torquecontrol signal based on a gait phase of the user based on the estimatedgait cycle.

The actuator 350 may output a torque based on the torque control signalgenerated by the controller 320. The actuator 350 may provide a force,for example, an assistance force or a resistance force, to a movement ofboth hip joints of the user. The actuator 350 may convert electricalenergy to kinetic energy, and apply the kinetic energy to a body of theuser to provide the user with a force needed for the user to move orprovide the user with a force that hinders the user from moving. Forexample, the actuator 350 may be provided as a plurality of actuators,and each of the actuators may be disposed on a portion corresponding toeach of positions of the hip joints of the user and generate a torquefor flexion and extension of a corresponding leg of the user.

The controller 320 may determine a state variable indicating a gaitphase or a gait state of the user based on a walking movement of theuser and control the actuator 350 based on the determined statevariable. The controller 320 may set a parameter to control theassistance torque based on the state variable and output the torquecontrol signal to assist the user in walking based on the set parameter.

The controller 320 may control the assistance torque to be provided bythe wearable device 300 based on the state variable, and determine acontrol signal to control the assistance torque based on the statevariable. The controller 320 may set a gain to adjust a strength of theassistance torque and set a time delay to adjust an output time of theassistance torque. The controller 320 may then define the state variablebased on the set gain and the set time delay.

When the exercise mode is selected as the operation mode, the controller320 may execute an algorithm for determining a resistance force tohinder a movement of the user wearing the wearable device 300. In theexercise mode, the controller 320 may determine a torque profile for amuscular exercise based on a walking exercise of the user, and theactuator 350 may output a torque, for example, a resistance torque,based on the determined torque profile.

For example, the controller 320 may receive exercise setting informationassociated with a lower body muscle selected by a user input, anddetermine a torque profile to be applied to the wearable device 300based on the received exercise setting information. The exercise settinginformation may include information associated with at least one lowerbody muscle selected by a user input among lower body muscles of theuser.

The user may select at least one lower body muscle for which the userdesires to do an exercise and that is set as a target for the exercise,or select all lower body muscles of the user, through an interfaceprovided in the wearable device 300 or the remote controller. Thecontroller 320 may determine a torque profile based on exercise settinginformation associated with the selected lower body muscles. Theexercise setting information may also include information associatedwith a choice of an exercise intensity. For example, when the userselects a higher exercise intensity, the controller 320 may set thetorque profile such that a greater strength of the resistance torque isoutput.

In some example embodiments, in addition to inputting the aforementionedexercise setting information, the user may also input their body weight,and the controller 320 may adjust the magnitude of torque in the torqueprofile based on the body weight.

In some example embodiments, the exercise mode may include aninitializing mode in which the controller 320 senses the base strengthof the muscles of the user to customize an amount of resistance to applyto the user during the exercise mode based on the strength of the user.

In some example embodiments, in addition to inputting the aforementionedexercise setting information, the user may also input an abnormal gaittype, and the controller 320 may adjust the torque profile based on theabnormal gait type to compensate for the particular gait abnormality.

In some other example embodiments, rather than the user selecting the atleast one lower body muscle to exercise, the controller 320 mayautomatically select one or more lower body muscles to exercise. Forexample, in some example embodiments, the controller 320 may randomlyselect different ones of the lower body muscles to exercise. In otherexample embodiments, the controller 320 may select the lower bodymuscles to exercise based on which muscles are most efficientlyexercised at a current walking speed of the user. In other exampleembodiments, the controller 320 may collect historical muscle strengthinformation from the user during prior exercise modes, and may selectthe lower body muscles to exercise based on the historical musclestrength information indicating, for example, which of the muscles ofthe user are relatively weak.

Based on the exercise setting information, the controller 320 may setthe torque profile such that the resistance torque for hindering amovement of the user wearing the wearable device 300 is output in a gaitsegment corresponding to the lower body muscle selected by the userinput. The controller 320 may estimate the gait phase of the user basedon the sensing information obtained from the sensor 340, and determinethe torque profile in the exercise mode based on the estimated gaitphase and the exercise setting information. For example, the controller320 may identify the gait segment of the gait phase corresponding to thelower body muscle selected by the user input, and set the torque profilesuch that the resistance torque is supplied to the actuator 350 in theidentified gait segment. As described above, the controller 320 mayapply a resistance torque in a suitable gait segment based on a gaitphase of the user, and thus assist the user in doing an exercise tostrengthen a target lower body muscle that the user desires tostrengthen. The controller 320 may adjust a delay in a time point atwhich a torque is to be applied in the torque profile, and thus adjust atiming of a load to be applied to the user.

According to another example embodiment, the controller 320 may set atorque profile such that an assistance torque and a resistance torqueare combined, or the assistance torque and the resistance torque areoutput simultaneously. For example, the controller 320 may set thetorque profile such that the assistance torque for supporting a legmovement of the user wearing the wearable device 300 is output in afirst time interval (e.g., 15 minutes) and the resistance torque forhindering a leg movement of the user is output in a second time interval(e.g., 15 minutes). For another example, the controller 320 may set thetorque profile such that the assistance torque is output in one gaitsegment of one gait phase of the user and the resistance torque isoutput in another gait segment of the gait phase of the user. For stillanother example, the controller 320 may set the torque profile such thatan actuator configured to apply a torque to a right leg of the useroutputs the assistance torque and an actuator configured to apply atorque to a left leg of the user outputs the resistance torque, at asame time point.

FIG. 4 is a flowchart illustrating an example of an exercise supportmethod performed by a wearable device according to at least one exampleembodiment.

As described above, a wearable device may operate in one operation mode(or, alternatively, a combination thereof) between a walking assist modethat assists a user wearing the wearable device in walking, and anexercise mode that outputs a resistance torque which is a force forhindering a leg movement of the user and provides the user with anexercise effect.

Referring to FIG. 4, in operation 410, when the wearable device executesthe exercise mode based on a choice made by the user, the wearabledevice receives exercise setting information associated with a lowerbody muscle selected by a user input. The exercise setting informationmay include information associated with at least one lower body musclethat is selected by the user input from among lower body muscles of theuser, and exercise intensity information and exercise time informationthat are selected by the user input. For example, the user may inputsetting details for a lower body exercise through a remote controllerconfigured to communicate with the wearable device, and the inputsetting details may be transmitted to the wearable device by beingincluded in the exercise setting information. For another example, thewearable device may include an UI that enables the user to input settingdetails for a lower body exercise, and the user may determine theexercise setting information through the UI.

In operation 420, the wearable device determines a torque profile to beapplied to the wearable device based on the exercise settinginformation. For example, the wearable device may estimate a gait phaseof the user wearing the wearable device based on sensing informationsensed by a sensor of the wearable device, and determine the torqueprofile based on the estimated gait phase and the exercise settinginformation. The wearable device may determine a resistance torqueapplication interval in which a resistance torque is to be appliedaccording to the exercise setting information based on the gait phase ofthe user. The wearable device may identify a gait segment of the gaitphase corresponding to the lower body muscle selected by the user input,and set the torque profile such that the resistance torque for hinderinga movement of the user is supplied to an actuator of the wearable deviceduring the identified gait segment.

In addition, the wearable device may determine a strength of theresistance torque of the torque profile based on an exercise intensityset in the exercise setting information, and set an entire time intervalin which the resistance torque is applied.

In operation 430, the wearable device operates the actuator of thewearable device based on the torque profile determined in operation 420.The wearable device may output the resistance torque that hinders amovement of the user through the actuator based on the torque profile.The wearable device may output the resistance torque through theactuator in the gait segment corresponding to the lower body muscleselected by the user input. When the resistance torque is output, theuser may strengthen a muscular strength because the user needs to use agreater force or power to move while experiencing a resistance forcewhile the user is doing a walking exercise, compared to when there is noresistance torque applied. In addition, the resistance torque may beoutput at a time point corresponding to the lower body muscle selectedby the user, and thus the user may do an exercise selectively for lowerbody muscles of the user. Such functions in the exercise mode may beexpandable to walking assistance. For example, by assisting orsupporting a movement of a hip joint of the user at only a certain timepoint of gait, it is possible to help a movement of a knee joint or anankle joint.

FIG. 5 is a diagram illustrating an example of a change in activation oflower body muscles in a walking exercise process according to at leastone example embodiment.

Referring to FIG. 5, a gait phase, or a gait state, may be defined basedon one of both legs of a user wearing a wearable device. For example, asillustrated in FIG. 5, the gait phase includes a stance phase and aswing phase based on a right leg of the user. The stance phase mayinclude double support, simple support, and double support in sequentialorder. The simple support may be subdivided into initial support, middlesupport, and terminal support. According to a general gait mechanism, agait phase of each leg may include a stance phase and a swing phasewhich alternate with each other.

A walking exercise used herein may refer to an exercise that enables theuser to strengthen all muscles of a lower body of the user. Referring toa table illustrated in FIG. 5, muscles that are mainly activated in afirst double support stage in the stance phase include a gracilismuscle, a rectus femoris muscle, a vastus muscle, a gluteus maximusmuscle, a gluteus medius muscle, a biceps femoris, and a musculustibialis anterior muscle. In addition, muscles that are mainly activatedin a simple support stage in the stance phase include a gastrocnemiusmuscle, a soleus muscle, and a musculus tibialis posterior muscle. Inaddition, muscles that are activated in the swing phase include aniliacus muscle, the gracilis muscle, and the rectus femoris muscle.

As described above, different lower body muscles may be activated basedon a gait phase during a walking exercise process. Thus, in one or moreexample embodiments, by applying a resistance torque to the user in asegment of a gait phase of the user in which a certain lower body muscleis to be activated, an exercise for strengthening the lower body musclemay be enabled. For example, applying a resistance torque to the rightleg of the user wearing the wearable device in a segment correspondingto the simple support of the stance phase may bring a greater effect ofan exercise for the gastrocnemius muscle, the soleus muscle, and themusculus tibialis posterior muscle. For another example, applying aresistance torque to the right leg of the user wearing the wearabledevice in an initial segment of the swing phase may bring a greatereffect of an exercise for the iliacus muscle, the gracilis muscle, andthe rectus femoris muscle.

FIG. 6 is a diagram illustrating an example of setting exercise settinginformation through a user input according to at least one exampleembodiment.

According to an example embodiment, a remote controller may provide a UIthat enables a user to intuitively set exercise setting information asillustrated in FIG. 6. The remote controller may output shapes andpositions of lower body muscles in a form of an image such that the userintuitively recognizes the muscles through the UI.

The user may select, through the UI, at least one lower body muscle orlower body part for which the user desires to do an exercise. Forexample, the user may select an image of at least one lower body musclefor which the user desires to do an exercise through a touch input. Inaddition, through the UI, the user may set an exercise intensity or anentire exercise time for the selected lower body muscle. Informationassociated with details selected and set as described above may betransmitted to a wearable device by being included in exercise settinginformation.

FIG. 7 is a diagram illustrating an example of a change in activation oflower body muscles over time in a walking exercise process according toat least one example embodiment.

Referring to FIG. 7, (A) illustrates a flow of a walking process of auser wearing a wearable device. (B1) and (B2) illustrate a change inactivation of hip muscles including a gluteus maximus muscle and agluteus medius muscle based on the flow of the walking process of theuser, and a change in activation of hamstrings including a bicepsfemoris or muscles behind a knee of the user based on the flow of thewalking process of the user, respectively. (B3) and (B4) illustrate achange in activation of quadricep muscles before the knee of the userincluding a rectus femoris muscle based on the flow of the walkingprocess of the user, and a change in activation of ankle musclesincluding a soleus muscle based on the flow of the walking process ofthe user, respectively.

(B1), (B2), (B3), and (B4) are muscular activation graphs illustratingchanges in activation of muscles that are shown when a resistance torqueis not applied to a walking exercise of the user. In the muscularactivation graphs, a horizontal axis corresponds to an elapsed time, anda vertical axis indicates a magnitude of activation of muscles. In eachof the muscular activation graphs, an upper portion indicates a muscleactivation change of a lower body muscle of a left leg of the user, anda lower portion indicates a muscle activation change of a lower bodymuscle of a right leg of the user.

The description of the muscular activation graphs illustrated in (B1),(B2), (B3), and (B4) may be applicable to muscular activation graphsillustrated in FIGS. 8 and 9.

FIG. 8 is a diagram illustrating an example of a change in activation oflower body muscles over time when a resistance torque is applied in anentire gait segment according to at least one example embodiment.

Referring to FIG. 8, (B1), (B2), (B3), and (B4) illustrate muscularactivation graphs of lower body muscles, and (C) illustrates a torqueprofile to be applied to a wearable device. According to the torqueprofile, a resistance torque is applied in all gait segments 810. In thetorque profile, an upper portion indicates a change in a resistancetorque to be applied to an actuator of the wearable device for a lefthip joint of a user wearing the wearable device, and a lower portionindicates a change in a resistance torque to be applied to an actuatorof the wearable device for a right hip joint of the user.

According to the torque profile, a resistance force may be applied to amovement of the user throughout the user is walking. Thus, as indicatedby circles in the muscular activation graphs of FIG. 8, hip muscles,hamstrings muscles behind a knee of the user, and quadricep muscles infront of the knee that are respectively illustrated in (B1), (B2), and(B3) are activated further, compared to the muscular activation changesin a general walking process illustrated in FIG. 7.

When the user desires to strengthen the hip muscles, the muscles behindthe knee, and the muscles before the knee during an walking exerciseprocess and selects such muscles, and exercise setting information isdetermined accordingly, the wearable device may set a torque profilesuch that a resistance torque is generated in all segments of a gaitphase of the user, and thus enable the user to experience an effect ofactivating the muscles as illustrated in FIG. 8.

FIG. 9 is a diagram illustrating an example of a change in activation oflower body muscles over time when a resistance torque is applied in somegait segments according to at least one example embodiment.

Referring to FIG. 9, (B1), (B2), (B3), and (B4) illustrate muscularactivation graphs of lower body muscles, and (C) illustrates a torqueprofile to be applied to a wearable device. In the torque profile, anupper portion indicates a change in a resistance torque to be applied toan actuator of the wearable device for a left hip joint of a userwearing the wearable device, and a lower portion indicates a change in aresistance torque to be applied to an actuator of the wearable devicefor a right hip joint of the user wearing the wearable device.

According to the torque profile, a resistance torque is applied in somegait segments 910 among all gait segments corresponding to one gaitphase of the user. Thus, a resistance force may be applied to a movementof the user only in the gait segments 910. In such a case, as indicatedby circles in the muscular activation graphs of FIG. 9, an ankle muscleillustrated in (B4) is activated further, compared to the muscularactivation changes in a general walking process illustrated in FIG. 7.

When the user desires to strengthen the ankle muscle during a walkingexercise process and selects such muscle, and exercise settinginformation is determined accordingly, the wearable device may set atorque profile such that a resistance torque is generated in a timeinterval corresponding to the gait segments 910 of a gait phase of theuser. Thus, as illustrated in FIG. 9, the user may strengthen the anklemuscle through a general walking exercise by doing the walking exercisewith the wearable device on. As described above, the wearable device mayprovide a resistance force to the user at a time point at which eachlower body muscle is activated, and thus enable the user to selectivelyexercise or rehabilitate lower body muscles of the user.

The units and/or modules described herein may be implemented usinghardware components and software components. For example, the hardwarecomponents may include microphones, amplifiers, band-pass filters, audioto digital convertors, and processing devices. A processing device maybe implemented using one or more hardware device configured to carry outand/or execute program code by performing arithmetical, logical, andinput/output operations. The processing device(s) may include aprocessor, a controller and an arithmetic logic unit, a digital signalprocessor, a microcomputer, a field programmable array, a programmablelogic unit, a microprocessor or any other device capable of respondingto and executing instructions in a defined manner. The processing devicemay run an operating system (OS) and one or more software applicationsthat run on the OS. The processing device also may access, store,manipulate, process, and create data in response to execution of thesoftware. For purpose of simplicity, the description of a processingdevice is used as singular; however, one skilled in the art willappreciated that a processing device may include multiple processingelements and multiple types of processing elements. For example, aprocessing device may include multiple processors or a processor and acontroller. In addition, different processing configurations arepossible, such a parallel processors.

The software may include a computer program, a piece of code, aninstruction, or some combination thereof, to independently orcollectively instruct and/or configure the processing device to operateas desired, thereby transforming the processing device into a specialpurpose processor. Software and data may be embodied permanently ortemporarily in any type of machine, component, physical or virtualequipment, computer storage medium or device, or in a propagated signalwave capable of providing instructions or data to or being interpretedby the processing device. The software also may be distributed overnetwork coupled computer systems so that the software is stored andexecuted in a distributed fashion. The software and data may be storedby one or more non-transitory computer readable recording mediums.

The methods according to the above-described example embodiments may berecorded in non-transitory computer-readable media including programinstructions to implement various operations of the above-describedexample embodiments. The media may also include, alone or in combinationwith the program instructions, data files, data structures, and thelike. The program instructions recorded on the media may be thosespecially designed and constructed for the purposes of exampleembodiments, or they may be of the kind well-known and available tothose having skill in the computer software arts. Examples ofnon-transitory computer-readable media include magnetic media such ashard disks, floppy disks, and magnetic tape; optical media such asCD-ROM discs, DVDs, and/or Blue-ray discs; magneto-optical media such asoptical discs; and hardware devices that are specially configured tostore and perform program instructions, such as read-only memory (ROM),random access memory (RAM), flash memory (e.g., USB flash drives, memorycards, memory sticks, etc.), and the like. Examples of programinstructions include both machine code, such as produced by a compiler,and files containing higher level code that may be executed by thecomputer using an interpreter. The above-described devices may beconfigured to act as one or more software modules in order to performthe operations of the above-described example embodiments, or viceversa.

A number of example embodiments have been described above. Nevertheless,it should be understood that various modifications may be made to theseexample embodiments. For example, suitable results may be achieved ifthe described techniques are performed in a different order and/or ifcomponents in a described system, architecture, device, or circuit arecombined in a different manner and/or replaced or supplemented by othercomponents or their equivalents. Accordingly, other implementations arewithin the scope of the following claims.

What is claimed is:
 1. An exercise support method performed by awearable device, comprising: receiving exercise setting information viaan input, the exercise setting information indicating selected lowerbody muscles of a user to exercise; determining a torque profile toapply to the wearable device based on the exercise setting information;and operating an actuator of the wearable device based on the torqueprofile.
 2. The exercise support method of claim 1, wherein thedetermining of the torque profile comprises: setting the torque profilesuch that a resistance torque to hinder a movement of the user is outputin one or more gait segments corresponding to the selected lower bodymuscles.
 3. The exercise support method of claim 1, wherein thedetermining of the torque profile comprises: determining a resistancetorque application interval according to the exercise settinginformation based on a gait phase of the user, wherein the operating theactuator applies a resistance torque during the resistance torqueapplication interval within one or more gait segments of the gait phase.4. The exercise support method of claim 1, wherein the exercise settinginformation includes information associated with the selected lower bodymuscles from among a plurality of lower body muscles of the user.
 5. Theexercise support method of claim 1, wherein the receiving of theexercise setting information comprises: receiving the exercise settinginformation from a remote controller configured to communicate with thewearable device.
 6. The exercise support method of claim 1, wherein thedetermining of the torque profile comprises: estimating a gait phase ofthe user based on sensor information sensed by one or more sensors ofthe wearable device; and determining the torque profile based on thegait phase and the exercise setting information.
 7. The exercise supportmethod of claim 6, wherein the determining of the torque profilecomprises: identifying one or more gait segments of the gait phasecorresponding the selected lower body muscles; and setting the torqueprofile such that a resistance torque is supplied to the actuator in theone or more gait segments.
 8. The exercise support method of claim 1,wherein the determining of the torque profile comprises: determining thetorque profile such that an assistance torque that supports a legmovement of the user is output in a first time interval and a resistancetorque that hinders the leg movement of the user is output in a secondtime interval.
 9. The exercise support method of claim 1, wherein thewearable device is configured to operate in one of a walking assist modeand an exercise mode such that, in the walking assist mode the wearabledevice assists a leg movement of the user and, in the exercise mode thewearable device outputs a resistance torque to hinder the leg movementof the user.
 10. An exercise support method performed by a wearabledevice, comprising: selectively setting the wearable device to anexercise mode; receiving exercise setting information via an input, theexercise setting information indicating selected lower body muscles of auser to exercise; and outputting, via an actuator of the wearabledevice, a resistance torque that hinders a movement of the user in oneor more gait segments corresponding to the selected lower body muscles.11. The exercise support method of claim 10, wherein the outputting ofthe resistance torque comprises: setting a torque profile such that theresistance torque is output in the one or more gait segmentscorresponding to the selected lower body muscles; and outputting theresistance torque through the actuator based on the torque profile. 12.A non-transitory computer-readable medium comprising computer readableinstructions that, when executed by a computer, cause the computer toperform the exercise support method of claim
 1. 13. A wearable devicecomprising: an actuator configured to output a torque based on a torqueprofile; and a controller configured to, receive exercise settinginformation via an input, the exercise setting information indicatingselected lower body muscles of a user to exercise, and determine thetorque profile based on the exercise setting information.
 14. Thewearable device of claim 13, wherein the controller is configured to,set the torque profile such that a resistance torque to hinder amovement of the user is output in one or more gait segmentscorresponding to the selected lower body muscles.
 15. The wearabledevice of claim 13, further comprising: a sensor configured to sense amovement of the user to generate sensing information, wherein thecontroller is configured to, estimate a gait phase of the user based onthe sensing information, and determine the torque profile based on thegait phase and the exercise setting information.
 16. The wearable deviceof claim 15, wherein the controller is configured to, identify one ormore gait segments of the gait phase corresponding to the selected lowerbody muscles, and set the torque profile such that a resistance torqueis supplied to the actuator in the one or more gait segments.
 17. Thewearable device of claim 13, wherein the controller is configured todetermine the torque profile such that an assistance torque thatsupports a leg movement of the user is output in a first time intervaland a resistance torque that hinders the leg movement of the user isoutput in a second time interval.
 18. The wearable device of claim 13,the wearable device is configured to operate in one of a walking assistmode and an exercise mode such that, in the walking assist mode thewearable device assists a leg movement of the user and, in the exercisemode the wearable device outputs a resistance torque to hinder the legmovement of the user.
 19. The wearable device of claim 13, furthercomprising: a communicator configured to receive the exercise settinginformation from a remote controller.